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Merge pull request #24 from KitwareMedical/add-openigtlink-apps
ENH: Adds an option to build an OpenIGTLink server for RF data
2 parents c76bef7 + e8ab82f commit 28ba613

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‎CMakeLists.txt‎

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@@ -31,6 +31,7 @@ include( CTest )
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# Options
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option( BUILD_APPLICATIONS "Build applications" OFF )
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option( BUILD_SERVERS "Build OpenIGTLink Servers" OFF)
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# External dependencies
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find_path( IntersonArraySDK_DIR
@@ -73,6 +74,10 @@ if( BUILD_APPLICATIONS )
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add_subdirectory( app )
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endif()
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if( BUILD_SERVERS )
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add_subdirectory( openigtlink )
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endif()
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# Install Interson libraries
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install( FILES ${IntersonArraySDK_LIBRARY}
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DESTINATION ${INSTALL_BIN_DIR} COMPONENT Runtime

‎openigtlink/CMakeLists.txt‎

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##############################################################################
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#
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# Library: IntersonArraySDK
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#
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# Copyright Kitware Inc. 28 Corporate Drive,
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# Clifton Park, NY, 12065, USA.
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#
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# All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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##############################################################################
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find_package( SlicerExecutionModel REQUIRED )
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include( ${SlicerExecutionModel_USE_FILE} )
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find_package(OpenIGTLink REQUIRED)
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include(${OpenIGTLink_USE_FILE})
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SEMMacroBuildCLI(
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NAME IntersonArrayServerRF
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TARGET_LIBRARIES ${ITK_LIBRARIES}
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IntersonArrayCxx
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OpenIGTLink
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INCLUDE_DIRECTORIES ${PROJECT_SOURCE_DIR}/include
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${PROJECT_BINARY_DIR}/include
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)
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‎openigtlink/IntersonArrayServerRF.cxx‎

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/*=========================================================================
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Library: IntersonArray
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Copyright Kitware Inc. 28 Corporate Drive,
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Clifton Park, NY, 12065, USA.
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All rights reserved.
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Licensed under the Apache License, Version 2.0 ( the "License" );
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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=========================================================================*/
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#include <Windows.h> // Sleep
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#include "IntersonArrayCxxImagingContainer.h"
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#include "IntersonArrayCxxControlsHWControls.h"
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#include "igtlImageMessage.h"
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#include "igtlServerSocket.h"
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#include "IntersonArrayServerRFCLP.h"
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typedef IntersonArrayCxx::Imaging::Container ContainerType;
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typedef ContainerType::RFImagePixelType PixelType;
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bool running;
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BOOL WINAPI consoleHandler(DWORD signal) {
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if (signal == CTRL_C_EVENT)
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{
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running = false;
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}
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return TRUE;
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}
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struct CallbackClientData
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{
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int FrameIndex;
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igtl::Socket * socket;
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igtl::ImageMessage * imgMsg;
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igtl::TimeStamp * ts;
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};
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void __stdcall pasteIntoImage( PixelType * buffer, void * clientData )
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{
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CallbackClientData * callbackClientData =
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static_cast< CallbackClientData * >( clientData );
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igtl::ImageMessage * message = callbackClientData->imgMsg;
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igtl::Socket * socket = callbackClientData->socket;
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igtl::TimeStamp * ts = callbackClientData->ts;
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const int framePixels = ContainerType::MAX_RFSAMPLES * ContainerType::NBOFLINES;
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++(callbackClientData->FrameIndex);
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message->SetMessageID(callbackClientData->FrameIndex);
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ts->GetTime();
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igtlUint32 sec;
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igtlUint32 nsec;
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ts->GetTimeStamp(&sec, &nsec);
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message->SetTimeStamp(sec, nsec);
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std::memcpy(message->GetScalarPointer(), buffer, framePixels * sizeof(PixelType));
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if (!socket)
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{
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return;
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}
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message->Pack();
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socket->Send(message->GetPackPointer(), message->GetPackSize());
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}
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int main( int argc, char * argv[] )
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{
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PARSE_ARGS;
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typedef IntersonArrayCxx::Controls::HWControls HWControlsType;
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IntersonArrayCxx::Controls::HWControls hwControls;
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int ret = EXIT_SUCCESS;
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int steering = 0;
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typedef HWControlsType::FoundProbesType FoundProbesType;
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FoundProbesType foundProbes;
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hwControls.FindAllProbes( foundProbes );
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if( foundProbes.empty() )
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{
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std::cerr << "Could not find the probe." << std::endl;
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return EXIT_FAILURE;
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}
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hwControls.FindMyProbe( 0 );
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const unsigned int probeId = hwControls.GetProbeID();
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if( probeId == 0 )
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{
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std::cerr << "Could not find the probe." << std::endl;
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return EXIT_FAILURE;
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}
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HWControlsType::FrequenciesType frequencies;
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hwControls.GetFrequency( frequencies );
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HWControlsType::FocusType focuses;
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hwControls.GetFocus(focuses);
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if( !hwControls.SetFrequencyAndFocus( frequencyIndex, focusIndex,
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steering ) )
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{
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std::cerr << "Could not set the frequency and focus." << std::endl;
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return EXIT_FAILURE;
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}
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if( !hwControls.SendHighVoltage( highVoltage, highVoltage ) )
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{
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std::cerr << "Could not set the high voltage." << std::endl;
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return EXIT_FAILURE;
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}
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if( !hwControls.EnableHighVoltage() )
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{
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std::cerr << "Could not enable high voltage." << std::endl;
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return EXIT_FAILURE;
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}
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hwControls.DisableHardButton();
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ContainerType container;
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container.SetHWControls(&hwControls);
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const int height_lines = hwControls.GetLinesPerArray();
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std::cout << "Lines per array: " << height_lines << std::endl;
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const int width_samples = ContainerType::MAX_RFSAMPLES;
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std::cout << "Max RF samples: " << width_samples << std::endl;
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const double ns = ContainerType::MAX_RFSAMPLES; // number of samples
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const double fs = 30000; // [kHz]=[samples/ms] - sampling frequency
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const double depth = sos * ( ns - 1 ) / ( 2 * fs );
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const double depthCfm = depth/2;
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std::cout << "Depth: " << depth << "mm" << std::endl;
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std::cout << std::endl;
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container.SetRFData( true );
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container.IdleInitScanConverter( depth, width_samples, height_lines, probeId,
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steering, depthCfm, false, false, 0, false );
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container.HardInitScanConverter( depth, width_samples, height_lines, steering,
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depthCfm );
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CallbackClientData clientData;
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clientData.FrameIndex = 0;
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// size parameters
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const short frameRate = hwControls.GetProbeFrameRate();
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int size[] = { ContainerType::MAX_RFSAMPLES, ContainerType::NBOFLINES, 1 }; // image dimension
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float spacing[] = { sos / (2 * fs), 38.0 / (height_lines - 1), 1.0 / frameRate }; // spacing (mm/pixel)
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int svsize[] = { ContainerType::MAX_RFSAMPLES, ContainerType::NBOFLINES, 1 }; // sub-volume size
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int svoffset[] = { 0, 0, 0 }; // sub-volume offset
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int scalarType = igtl::ImageMessage::TYPE_INT16;// scalar type
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//------------------------------------------------------------
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// Create a new IMAGE type message
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igtl::ImageMessage::Pointer imgMsg = igtl::ImageMessage::New();
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imgMsg->SetDimensions(size);
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imgMsg->SetSpacing(spacing);
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imgMsg->SetScalarType(scalarType);
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imgMsg->SetDeviceName("IntersonRF");
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imgMsg->SetSubVolume(svsize, svoffset);
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imgMsg->SetHeaderVersion(IGTL_HEADER_VERSION_2);
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IANA_ENCODING_TYPE codingScheme = IANA_TYPE_US_ASCII;
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//Add meta data here
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imgMsg->SetMetaDataElement("Frequency (MHz)", codingScheme, std::to_string(frequencies[frequencyIndex]));
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imgMsg->SetMetaDataElement("Focus (mm)", codingScheme, std::to_string(focuses[focusIndex]));
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imgMsg->SetMetaDataElement("High voltage", codingScheme, std::to_string(highVoltage));
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imgMsg->SetMetaDataElement("SOS", codingScheme, std::to_string(sos));
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imgMsg->SetMetaDataElement("FPS", codingScheme, std::to_string(frameRate));
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imgMsg->SetMetaDataElement("Steering", codingScheme, std::to_string(steering));
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imgMsg->SetMetaDataElement("Image Type", codingScheme, "RF");
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imgMsg->SetMetaDataElement("Timestamp seconds", codingScheme, "0");
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imgMsg->SetMetaDataElement("Timestamp nseconds", codingScheme, "0");
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imgMsg->AllocateScalars();
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imgMsg->SetEndian(igtl::ImageMessage::ENDIAN_LITTLE);
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igtl::Matrix4x4 matrix;
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matrix[0][0] = 0.0; matrix[1][0] = -1.0; matrix[2][0] = 0.0; matrix[3][0] = 0.0;
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matrix[0][1] = 1.0; matrix[1][1] = 0.0; matrix[2][1] = 0.0; matrix[3][1] = 0.0;
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matrix[0][2] = 0.0; matrix[1][2] = 0.0; matrix[2][2] = 1.0; matrix[3][2] = 0.0;
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matrix[0][3] = 0.0; matrix[1][3] = 0.0; matrix[2][3] = 0.0; matrix[3][3] = 1.0;
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imgMsg->SetMatrix(matrix);
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igtl::TimeStamp::Pointer ts = igtl::TimeStamp::New();
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clientData.ts = ts.GetPointer();
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clientData.imgMsg = imgMsg.GetPointer();
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//socket setup
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igtl::ServerSocket::Pointer serverSocket;
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serverSocket = igtl::ServerSocket::New();
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int r = serverSocket->CreateServer(port);
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if (r < 0)
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{
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std::cerr << "Cannot create a server socket." << std::endl;
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exit(0);
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}
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std::cerr << "Created Server socket." << std::endl;
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igtl::Socket::Pointer socket;
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clientData.socket = socket;
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container.SetNewRFImageCallback( &pasteIntoImage, &clientData );
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std::cout << "StartRFReadScan" << std::endl;
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container.StartRFReadScan();
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Sleep( 100 ); // "time to start"
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std::cout << "StartRFmode" << std::endl;
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if( !hwControls.StartRFmode() )
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{
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std::cerr << "Could not start RF collection." << std::endl;
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return EXIT_FAILURE;
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}
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if (!SetConsoleCtrlHandler(consoleHandler, TRUE))
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{
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std::cout << "Could not set control handler" << std::endl;
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return 1;
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}
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running = true;
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std::cout << "Server is running, use Ctrl-C to stop" << std::endl;
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while( running )
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{
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//------------------------------------------------------------
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// Waiting for Connection
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socket = serverSocket->WaitForConnection(1000);
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clientData.socket = socket.GetPointer();
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if (socket.IsNotNull()) // if client connected
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{
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Sleep(10000); //chill for a bit
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}
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}
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std::cout << "Shutting down" << std::endl;
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hwControls.StopAcquisition();
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container.StopReadScan();
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if (socket)
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{
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socket->CloseSocket();
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}
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Sleep( 100 ); // "time to stop"
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return ret;
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}

‎openigtlink/IntersonArrayServerRF.xml‎

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<?xml version="1.0" encoding="UTF-8"?>
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<executable>
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<category>Ultrasound</category>
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<title>Interson RF OpenIGTLink Server</title>
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<description>Braodcast RF images over OpenIGTLink.</description>
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<version>0.1.0</version>
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<license>Apache 2.0</license>
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<contributor>Sam Horvath (Kitware), Matt McCormick (Kitware)</contributor>
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<acknowledgements>This work is funded in part by a grant with InnerOptic/Kitware</acknowledgements>
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<parameters>
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<integer>
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<name>port</name>
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<label>Port Number</label>
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<description>Port for OpenIGTLink Server.</description>
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<longflag>port</longflag>
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<flag>p</flag>
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<default>18944</default>
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</integer>
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<integer>
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<name>frequencyIndex</name>
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<label>Frequency Index</label>
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<description>Index of the frequency to examine. See the output of PrintIntersonProbeInfo.</description>
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<longflag>frequencyIndex</longflag>
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<flag>f</flag>
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<default>1</default>
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</integer>
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<integer>
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<name>focusIndex</name>
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<label>Focus Index</label>
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<description>Index of the focus to examine. See the output of PrintIntersonProbeInfo.</description>
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<longflag>focusIndex</longflag>
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<flag>F</flag>
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<default>1</default>
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</integer>
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<integer>
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<name>highVoltage</name>
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<label>High Voltage</label>
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<description>Percentage of the high voltage for transducer excitation.</description>
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<longflag>highVoltage</longflag>
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<flag>z</flag>
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<default>50</default>
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<minimum>0</minimum>
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<maximum>100</maximum>
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</integer>
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<double>
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<name>sos</name>
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<label>Speed of sound</label>
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<description> Assumed speed of sound in the crossed medium in mm/ms.</description>
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<longflag>sos</longflag>
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<default>1540</default>
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</double>
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</parameters>
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</executable>

‎src/CMakeLists.txt‎

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COMMAND ${CMAKE_COMMAND} -E copy_if_different "$<TARGET_FILE:IntersonArrayCxx>" "${PROJECT_BINARY_DIR}/app/bin"
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)
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endif()
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if( BUILD_SERVERS )
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add_custom_command( TARGET IntersonArrayCxx
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POST_BUILD
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COMMAND ${CMAKE_COMMAND} -E make_directory "${PROJECT_BINARY_DIR}/openigtlink/bin/$<CONFIG>"
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COMMAND ${CMAKE_COMMAND} -E copy_if_different "${IntersonArraySDK_DIR}/Libraries/IntersonArray.dll" "${PROJECT_BINARY_DIR}/openigtlink/bin/$<CONFIG>"
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COMMAND ${CMAKE_COMMAND} -E copy_if_different "$<TARGET_FILE:IntersonArrayCxx>" "${PROJECT_BINARY_DIR}/openigtlink/bin/$<CONFIG>"
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COMMAND ${CMAKE_COMMAND} -E copy_if_different "${IntersonArraySDK_DIR}/Libraries/IntersonArray.dll" "${PROJECT_BINARY_DIR}/openigtlink/bin"
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COMMAND ${CMAKE_COMMAND} -E copy_if_different "$<TARGET_FILE:IntersonArrayCxx>" "${PROJECT_BINARY_DIR}/openigtlink/bin"
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)
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endif()

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